/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * Copyright (c) 2017, Open Source Robotics Foundation, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_COMMON__VISUALIZER_APP_HPP_
#define RVIZ_COMMON__VISUALIZER_APP_HPP_

#include <memory>

#include <QApplication>  // NOLINT: cpplint is unable to handle the include order here
#include <QObject>  // NOLINT: cpplint is unable to handle the include order here

#include "rviz_common/ros_integration/ros_client_abstraction_iface.hpp"
#include "rviz_common/visibility_control.hpp"

#include "rviz_rendering/render_window.hpp"

class QTimer;

namespace rviz_common
{

class VisualizationFrame;

class RVIZ_COMMON_PUBLIC VisualizerApp : public QObject
{
  Q_OBJECT

public:
  explicit VisualizerApp(
    std::unique_ptr<rviz_common::ros_integration::RosClientAbstractionIface> ros_client_abstraction
  );
  ~VisualizerApp() override;

  void setApp(QApplication * app);

  rviz_rendering::RenderWindow * getRenderWindow();

  void loadConfig(QString config_path);

  /// Initialize the Visualizer App given the command line arguments.
  /**
   * \return false on failure, true on success.
   */
  bool init(int argc, char ** argv);

private Q_SLOTS:
  /// Ensure the application should continue running, otherwise close all windows.
  void checkContinue();

private:
  void startContinueChecker();

  QApplication * app_;
  QTimer * continue_timer_;
  VisualizationFrame * frame_;
  rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr node_;
  std::unique_ptr<rviz_common::ros_integration::RosClientAbstractionIface> ros_client_abstraction_;
};

}  // namespace rviz_common

#endif  // RVIZ_COMMON__VISUALIZER_APP_HPP_
